Maximum Efficiency Tracking and Wide Power Regulation Composite Control Method for Underwater MC-WPT System
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摘要: 针对无人水下航行器无线充电系统最大效率传输和不同功率输出的需求, 提出一种既能实现最大效率跟踪又能调节输出功率的复合控制方法。首先分析水下磁场耦合式无线电能传输(MC-WPT)系统传输功率和效率的影响因素, 围绕海水介质环境需考虑耦合机构涡流损耗的问题, 采用磁场和电路联合仿真的方法得到耦合机构涡流等效电阻, 计算得到最优负载; 其次, 在接收端级联Cuk电路进行阻抗匹配实现最大效率跟踪, 同时在发射端通过控制移相角实现宽功率范围调节, 该复合控制方法中效率和功率2个控制回路之间互不干扰; 最后, 构建系统仿真模型并搭建系统实验样机, 通过仿真和实验验证了文中理论分析和所提方法的正确性。实验结果表明, 引入最大效率跟踪方法后, 各个负载工况均能提升至最佳效率, 以输出2 kW、负载5 Ω为例, 效率由84.8%提升至93.1%; 实验中输入电压变化时, 通过调节移相角实现了最大效率情况下1~3 kW的功率输出, 仿真和实验均表明系统能够持续保持较高效率运行并根据需求实时调节输出功率。Abstract: A composite control method was proposed to achieve both maximum efficiency tracking and adjustable output power for unmanned undersea vehicle wireless charging systems. First, the factors affecting the power transmission efficiency of the underwater magnetically coupled wireless power transfer(MC-WPT) system were analyzed. Considering the eddy current loss in the coupling mechanism within the seawater environment, the equivalent eddy current resistance was obtained through magnetic-field and circuit co-simulation, and the optimal load was calculated. Second, a Cuk converter was cascaded on the receiver side for impedance matching to achieve maximum efficiency tracking, while a wide power range was regulated by controlling the phase-shift angle on the transmitter side. The two control loops for efficiency and power operated independently. Finally, a system simulation model was constructed, and an experimental prototype was built to validate the theoretical analysis and the proposed method. The experimental results show that the maximum efficiency tracking method improves the efficiency under various load conditions. For instance, at 2 kW output with a 5 Ω load, the system efficiency increases from 84.8% to 93.1%. When the input voltage varies, the output power is regulated from 1 to 3 kW while maintaining maximum efficiency by adjusting the phase-shift angle. Both simulation and experimental results demonstrate that the system can operate consistently with high efficiency and adjust the output power in real time according to demand.
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图 3 耦合机构涡流损耗分布图
Figure 3. Distribution diagram of eddy current losses in coupling mechanism
图 5 基于Cuk变换器的最大效率跟踪等效电路图
Figure 5. Equivalent circuit diagram of maximum efficiency tracking based on Cuk converter
图 6 移相控制驱动电压及输出电压波形图
Figure 6. Waveform of phase-shifted control driving voltage and output voltage
图 9 移相角随输入电压和需求输出功率变化图
Figure 9. Dephasing angle variation diagram with input voltage and required output power
图 10 系统参数设计及复合控制流程图
Figure 10. Flow chart of system parameter design and composite control flowchart
图 11 最大效率跟踪下输出功率调节范围图
Figure 11. Diagram of output power adjustment range under maximum efficiency tracking
图 12 仿真逆变输出电压/电流和系统输出电压波形
Figure 12. Simulated waveforms of inverter output voltage/current and system output voltage
图 14 实验逆变输出电压/电流和系统输出电压波形
Figure 14. Experimental waveforms of inverter output voltage/current and system output voltage
图 15 引入最大效率跟踪方法前效率随负载变化曲线
Figure 15. Efficiency variation curves with load before introducing maximum efficiency tracking method
图 16 引入最大效率跟踪方法后效率随负载变化曲线
Figure 16. Efficiency variation curves with load after introducing maximum efficiency tracking method
图 17 电压变化过程中各功率下的移相角
Figure 17. Dephasing angles at different powers during voltage variation process
表 1 LCC-S型MC-WPT系统参数
Table 1. LCC-S MC-WPT system parameters
参数 数值 参数 数值 ƒ/kHz 80 Cp/nF 52.8 Lf/μH 75 Cs/nF 26.4 Lp/μH 150 Cf/μF 470 Ls/μH 150 Rp/Ω 0.2 M/μH 55 Rs/Ω 0.2 Cr/nF 52.8 
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表 3 引入最大效率跟踪方法前后效率值对比
Table 3. Comparison of efficiency before and after introducing maximum efficiency tracking method
负载/Ω ηa/% ηmax/% Pout=
3 kWPout=
2 kWPout=
1 kWPout=
3 kWPout=
2 kWPout=
1 kW5 87.6 84.8 82.9 93.9 93.1 91.7 10 89.7 87.5 85.4 94.0 92.9 91.7 30 93.8 92.8 91.5 94.2 93.4 92.1 50 93.1 92.0 90.9 94.3 93.1 92.0 70 91.7 90.1 88.2 94.3 93.2 92.0
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